You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
56 lines
1.7 KiB
56 lines
1.7 KiB
<sdf version='1.9'>
|
|
<world name='baylands'>
|
|
<physics type="ode">
|
|
<max_step_size>0.004</max_step_size>
|
|
<real_time_factor>1.0</real_time_factor>
|
|
<real_time_update_rate>250</real_time_update_rate>
|
|
</physics>
|
|
<gravity>0 0 -9.8</gravity>
|
|
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
|
|
<atmosphere type='adiabatic'/>
|
|
<scene>
|
|
<ambient>0.8 0.5 1</ambient>
|
|
<grid>false</grid>
|
|
<sky>
|
|
<clouds>true</clouds>
|
|
</sky>
|
|
<shadows>1</shadows>
|
|
</scene>
|
|
<light name='sunUTC' type='directional'>
|
|
<pose>0 0 500 0 -0 0</pose>
|
|
<cast_shadows>false</cast_shadows>
|
|
<intensity>1</intensity>
|
|
<direction>0.001 0.625 -0.78</direction>
|
|
<diffuse>0.904 0.904 0.904 1</diffuse>
|
|
<specular>0.271 0.271 0.271 1</specular>
|
|
<attenuation>
|
|
<range>2000</range>
|
|
<linear>0</linear>
|
|
<constant>1</constant>
|
|
<quadratic>0</quadratic>
|
|
</attenuation>
|
|
</light>
|
|
<include>
|
|
<uri>
|
|
https://fuel.gazebosim.org/1.0/OpenRobotics/models/baylands
|
|
</uri>
|
|
<name>park</name>
|
|
<pose>205 155 -1 0 0 0</pose>
|
|
</include>
|
|
<include>
|
|
<uri>
|
|
https://fuel.gazebosim.org/1.0/OpenRobotics/models/Coast Water
|
|
</uri>
|
|
<pose>0 0 -2 0 0 0
|
|
<relative_to>park</relative_to>
|
|
</pose>
|
|
</include>
|
|
<spherical_coordinates>
|
|
<surface_model>EARTH_WGS84</surface_model>
|
|
<world_frame_orientation>ENU</world_frame_orientation>
|
|
<latitude_deg>37.412173071650805</latitude_deg>
|
|
<longitude_deg>-121.998878727967</longitude_deg>
|
|
<elevation>38</elevation>
|
|
</spherical_coordinates>
|
|
</world>
|
|
</sdf>
|
|
|